Toward Shared Autonomy Control Schemes for Human-Robot Systems: Action Primitive Recognition Using Eye Gaze Features.

ABSTRACT: The functional independence of individuals with upper limb impairment could be enhanced by teleoperated robots that can assist with activities of daily living. However, robot control is not always intuitive for the operator. In this work, eye gaze was leveraged as a natural way to infer human intent and advance action recognition for shared autonomy control schemes. We introduced a classifier structure for recognizing low-level action primitives that incorporates novel three-dimensional gaze-related features. We defined an action primitive as a triplet comprised of a verb, target object, and hand object. A recurrent neural network was trained to recognize a verb and target object, and was tested on three different activities. For a representative activity (making a powdered drink), the ave

SUBMITTER: Wang X 

PROVIDER: S-EPMC7593660 | biostudies-literature | 2020

REPOSITORIES: biostudies-literature